Embedded measurement and control system and method for guiding robot intelligent grasping

Abstract

The invention discloses an embedded measurement and control system for guiding robots to intelligently grasp. The embedded ARM11 processor is connected to the camera sensor module through the USB interface, connected to the supplementary light source through the ordinary I / O port, and connected to the robot through the Ethernet interface. Grab the actuator; the embedded ARM11 processor is connected to the camera sensor module to control the acquisition and stop of the image through a USB interface, and the embedded ARM11 platform is connected to the supplementary light source through the I / O port Power is provided for it, and the embedded ARM11 is connected with the robot grabbing actuator through an Ethernet interface for data sending and receiving communication. On the basis of ensuring real-time performance and high performance, the invention has the advantages of low cost, small occupied space, convenient installation, etc., and is easy to be used on a large scale in industrial sites.

Description

technical field [0001] The invention relates to the field of robots, in particular to an embedded machine vision measurement and control system for guiding robots to intelligently grasp. Background technique [0002] The robot intelligent grasping system is an object handling and placement system commonly used in industrial sites. Widely used in machinery, electronics, semiconductors, pharmaceuticals and many other fields. In the robot intelligent grasping technology, the visual guidance technology plays a key role. The spatial position of the object is output after the image is collected by the machine vision technology, analyzed and processed, and the object is controlled and grasped by outputting the control signal to the actuator, and then through Image acquisition and processing calculates the precise position of the object and places it. So as to achieve the function of making the robot intelligent grasping system effectively replace human beings to complete the hand...

AI Technical Summary

Problems solved by technology

[0004] For example, Chinese patent 200910028931.1 provides an embedded machine vision measurement and control system. This device uses FPGA and DSP to collect and process pictures respectively. The OPENCV development library, the image processing is difficult and not optimized enough, so it cannot be widely promoted and used

[0005] For example, Chinese patent 200910234422.4 provides an embedded machine vision intelligent terminal, which adopts ARM9 chip to be responsible for all digital and logical operations. The light source and the WINCE operating system are difficult to cut, have high requirements for resources, and poor real-time performance. The effect is poor when the light is dark and the external environment is complex, and the real-time performance of image processing cannot be guaranteed. Difficult to apply to the actual industrial site

[0006] At present, the embedded machine vision measurement and control system used by domestic and foreign guide robots for intelligent grasping is mainly produced by well-known foreign machine vision companies. Such machine vision products are often priced high, and after-sales service is not satisfactory.

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